Research on Motion Planning of Hexapod Robot Based on DRL and Free Gait

Authors

Xinpeng Wang, School of Manufacturing Science and Engineering, Southwest University of Science and Technology, Mianyang 621010, China; Manufacturing Process Testing Technology Key Laboratory of the Ministry of Education, Mianyang 621000, ChinaFollow
Huiqiao Fu, School of Management and Engineering, Nanjing university, Nanjing 210046, China
Guizhou Deng, School of Manufacturing Science and Engineering, Southwest University of Science and Technology, Mianyang 621010, China; Manufacturing Process Testing Technology Key Laboratory of the Ministry of Education, Mianyang 621000, China
Kaiqiang Tang, School of Management and Engineering, Nanjing university, Nanjing 210046, China; Manufacturing Process Testing Technology Key Laboratory of the Ministry of Education, Mianyang 621000, ChinaFollow
Chunlin Chen, School of Management and Engineering, Nanjing university, Nanjing 210046, China
Canghao Liu, School of Manufacturing Science and Engineering, Southwest University of Science and Technology, Mianyang 621010, China; Manufacturing Process Testing Technology Key Laboratory of the Ministry of Education, Mianyang 621000, China

Abstract

Abstract: To improve the passability and the motion performance of the hexapod robot in the unstructured environment, a multi-contact motion planning algorithm based on DRL and free gait planner is proposed. Firstly, the free gait planner obtains the reachable footholds under the target state and outputs the optimal gait sequence. The center of mass motion policy of the hexapod robot in the randomly generated plum blossom pile environment is obtained by using deep reinforcement learning training. To ensure the reachability between adjacent states of the robot in motion, the state transition feasibility model is used to judge the state transition feasibility. Finally, the foothold planning of the hexapod robot in the plum blossom pile environment with gullies of different widths is realized. Simulation and physical experiments show that the multi-contact motion planning algorithm can make the robot reach the target area quickly and smoothly from the starting point, and automatically adjust the gait pattern to deal with the randomly distributed plum blossom piles in different environments.

Recommended Citation

Wang, Xinpeng; Fu, Huiqiao; Deng, Guizhou; Tang, Kaiqiang; Chen, Chunlin; and Liu, Canghao (2024) "Research on Motion Planning of Hexapod Robot Based on DRL and Free Gait," Journal of System Simulation: Vol. 36: Iss. 2, Article 8.
DOI: 10.16182/j.issn1004731x.joss.22-1220
Available at: https://dc-china-simulation.researchcommons.org/journal/vol36/iss2/8

First Page

373

Last Page

384

CLC

TP242.6

Recommended Citation

Wang Xinpeng, Fu Huiqiao, Deng Guizhou, et al. Research on Motion Planning of Hexapod Robot Based on DRL and Free Gait[J]. Journal of System Simulation, 2024, 36(2): 373-384.

Corresponding Author

Tang Kaiqiang

DOI

10.16182/j.issn1004731x.joss.22-1220